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<!-- generated by bam_robot_descriptions (mjcf backend), content ba79c8c80cf77c88 -->
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                          <inertial pos="-0.02186 0.00895 0.00042" mass="0.49854" fullinertia="0.00054939614 0.00166971314 0.00127258622 -2.147115e-05 -1.687902e-05 1.71584e-06" />
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                            <geom name="LH_FOOT_vis_0" type="mesh" mesh="foot" contype="0" conaffinity="0" group="2" />
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                          <geom name="RH_shank_fixed_col_0" type="cylinder" size="0.071 0.02866" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <geom name="RH_shank_fixed_col_1" type="box" size="0.066415 0.04151 0.02866" pos="-0.066415 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                          <body name="RH_FOOT" pos="-0.1 -0.02225 -0.39246">
                            <inertial pos="-0.0 0.01559 0.15004" mass="0.29644" fullinertia="0.00514263169 0.0051315957 0.00011890148 1.46e-09 -6.85e-09 -0.00016323086" />
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                            <geom name="RH_FOOT_col_0" type="cylinder" size="0.0175 0.19786" pos="0.0 0.016891153063699788 0.22824319686592265" group="3" />
                            <geom name="RH_FOOT_col_1" type="sphere" size="0.031455" pos="0.0 0.008141153063699788 0.03038319686592264" group="3" />
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      <body name="inspection_payload_mount" pos="0.14253 0.0 0.092">
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        <geom name="inspection_payload_mount_vis_0" type="mesh" mesh="mount" contype="0" conaffinity="0" group="2" />
        <geom name="inspection_payload_mount_col_0" type="box" size="0.08 0.0675 0.0075" group="3" />
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          <joint name="inspection_payload_mount_to_pan" type="hinge" axis="0.0 0.0 1.0" range="-2.6 2.6" damping="0.05" frictionloss="0.01" />
          <inertial pos="0.00068 -0.00349 0.07578" mass="3.18886" fullinertia="0.02661619524 0.01515399107 0.02200752038 0.00040736245 0.00195095864 0.00077034252" />
          <geom name="inspection_payload_pan_vis_0" type="mesh" mesh="pan" contype="0" conaffinity="0" group="2" />
          <geom name="inspection_payload_pan_col_0" type="box" size="0.09 0.12 0.105" pos="0.0 0.0 0.125" group="3" />
          <body name="inspection_payload_tilt" pos="0.03 0.0 0.152">
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            <geom name="inspection_payload_tilt_vis_0" type="mesh" mesh="tilt" contype="0" conaffinity="0" group="2" />
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              <body name="inspection_payload_camera" pos="0.055 -0.023 0.031" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
              <body name="inspection_payload_thermal_camera" pos="0.0684 -0.023 -0.03" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
              <body name="inspection_payload_light" pos="0.05495 0.03 0.03116" quat="0.4999999983974483 -0.5 0.5000000016025516 -0.5" />
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            </body>
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        </body>
        <body name="inspection_payload_camera_default" pos="0.0 0.0 0.175" />
      </body>
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    <exclude body1="base" body2="body_top" />
    <exclude body1="base" body2="top_shell" />
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    <exclude body1="face_front" body2="depth_camera_front_lower_camera" />
    <exclude body1="depth_camera_front_lower_camera" body2="depth_camera_front_lower_camera_parent" />
    <exclude body1="depth_camera_front_lower_camera_parent" body2="depth_camera_front_lower_depth_frame" />
    <exclude body1="depth_camera_front_lower_depth_frame" body2="depth_camera_front_lower_depth_optical_frame" />
    <exclude body1="face_front" body2="depth_camera_front_upper_camera" />
    <exclude body1="depth_camera_front_upper_camera" body2="depth_camera_front_upper_camera_parent" />
    <exclude body1="depth_camera_front_upper_camera_parent" body2="depth_camera_front_upper_depth_frame" />
    <exclude body1="depth_camera_front_upper_depth_frame" body2="depth_camera_front_upper_depth_optical_frame" />
    <exclude body1="face_front" body2="wide_angle_camera_front_camera" />
    <exclude body1="wide_angle_camera_front_camera" body2="wide_angle_camera_front_camera_parent" />
    <exclude body1="base" body2="face_rear" />
    <exclude body1="face_rear" body2="depth_camera_rear_lower_camera" />
    <exclude body1="depth_camera_rear_lower_camera" body2="depth_camera_rear_lower_camera_parent" />
    <exclude body1="depth_camera_rear_lower_camera_parent" body2="depth_camera_rear_lower_depth_frame" />
    <exclude body1="depth_camera_rear_lower_depth_frame" body2="depth_camera_rear_lower_depth_optical_frame" />
    <exclude body1="face_rear" body2="depth_camera_rear_upper_camera" />
    <exclude body1="depth_camera_rear_upper_camera" body2="depth_camera_rear_upper_camera_parent" />
    <exclude body1="depth_camera_rear_upper_camera_parent" body2="depth_camera_rear_upper_depth_frame" />
    <exclude body1="depth_camera_rear_upper_depth_frame" body2="depth_camera_rear_upper_depth_optical_frame" />
    <exclude body1="face_rear" body2="wide_angle_camera_rear_camera" />
    <exclude body1="wide_angle_camera_rear_camera" body2="wide_angle_camera_rear_camera_parent" />
    <exclude body1="face_front" body2="face_shell_front" />
    <exclude body1="face_rear" body2="face_shell_rear" />
    <exclude body1="base" body2="battery" />
    <exclude body1="base" body2="docking_socket" />
    <exclude body1="base" body2="hbc_receiver" />
    <exclude body1="base" body2="imu_link" />
    <exclude body1="base" body2="depth_camera_left_camera" />
    <exclude body1="depth_camera_left_camera" body2="depth_camera_left_camera_parent" />
    <exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_depth_frame" />
    <exclude body1="depth_camera_left_depth_frame" body2="depth_camera_left_depth_optical_frame" />
    <exclude body1="base" body2="depth_camera_right_camera" />
    <exclude body1="depth_camera_right_camera" body2="depth_camera_right_camera_parent" />
    <exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_depth_frame" />
    <exclude body1="depth_camera_right_depth_frame" body2="depth_camera_right_depth_optical_frame" />
    <exclude body1="base" body2="lidar_parent" />
    <exclude body1="lidar_parent" body2="lidar" />
    <exclude body1="base" body2="LF_HAA_drive" />
    <exclude body1="LF_HAA_drive" body2="LF_HIP" />
    <exclude body1="LF_HIP" body2="LF_hip_fixed" />
    <exclude body1="LF_hip_fixed" body2="LF_HFE_output" />
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    <exclude body1="LF_THIGH" body2="LF_HFE_drive" />
    <exclude body1="LF_HFE_drive" body2="LF_thigh_fixed" />
    <exclude body1="LF_thigh_fixed" body2="LF_KFE_drive" />
    <exclude body1="LF_KFE_drive" body2="LF_SHANK" />
    <exclude body1="LF_SHANK" body2="LF_shank_fixed" />
    <exclude body1="LF_shank_fixed" body2="LF_FOOT" />
    <exclude body1="base" body2="RF_HAA_drive" />
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    <exclude body1="RF_hip_fixed" body2="RF_HFE_output" />
    <exclude body1="RF_HFE_output" body2="RF_THIGH" />
    <exclude body1="RF_THIGH" body2="RF_HFE_drive" />
    <exclude body1="RF_HFE_drive" body2="RF_thigh_fixed" />
    <exclude body1="RF_thigh_fixed" body2="RF_KFE_drive" />
    <exclude body1="RF_KFE_drive" body2="RF_SHANK" />
    <exclude body1="RF_SHANK" body2="RF_shank_fixed" />
    <exclude body1="RF_shank_fixed" body2="RF_FOOT" />
    <exclude body1="base" body2="LH_HAA_drive" />
    <exclude body1="LH_HAA_drive" body2="LH_HIP" />
    <exclude body1="LH_HIP" body2="LH_hip_fixed" />
    <exclude body1="LH_hip_fixed" body2="LH_HFE_output" />
    <exclude body1="LH_HFE_output" body2="LH_THIGH" />
    <exclude body1="LH_THIGH" body2="LH_HFE_drive" />
    <exclude body1="LH_HFE_drive" body2="LH_thigh_fixed" />
    <exclude body1="LH_thigh_fixed" body2="LH_KFE_drive" />
    <exclude body1="LH_KFE_drive" body2="LH_SHANK" />
    <exclude body1="LH_SHANK" body2="LH_shank_fixed" />
    <exclude body1="LH_shank_fixed" body2="LH_FOOT" />
    <exclude body1="base" body2="RH_HAA_drive" />
    <exclude body1="RH_HAA_drive" body2="RH_HIP" />
    <exclude body1="RH_HIP" body2="RH_hip_fixed" />
    <exclude body1="RH_hip_fixed" body2="RH_HFE_output" />
    <exclude body1="RH_HFE_output" body2="RH_THIGH" />
    <exclude body1="RH_THIGH" body2="RH_HFE_drive" />
    <exclude body1="RH_HFE_drive" body2="RH_thigh_fixed" />
    <exclude body1="RH_thigh_fixed" body2="RH_KFE_drive" />
    <exclude body1="RH_KFE_drive" body2="RH_SHANK" />
    <exclude body1="RH_SHANK" body2="RH_shank_fixed" />
    <exclude body1="RH_shank_fixed" body2="RH_FOOT" />
    <exclude body1="base" body2="inspection_payload_mount" />
    <exclude body1="inspection_payload_mount" body2="inspection_payload_pan" />
    <exclude body1="inspection_payload_pan" body2="inspection_payload_tilt" />
    <exclude body1="inspection_payload_tilt" body2="inspection_payload_head" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_camera" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_thermal_camera" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_light" />
    <exclude body1="inspection_payload_head" body2="inspection_payload_microphone" />
    <exclude body1="inspection_payload_mount" body2="inspection_payload_camera_default" />
  </contact>
</mujoco>
